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Several undercover police officers who started sexual relationships with women in groups they infiltrated will not be prosecuted.

The Crown Prosecution Service said there was "insufficient evidence" to charge the officers for offences including rape and indecent assault.

Credit: PA

In a statement the CPS said: "Having carefully considered all the available evidence we have determined that there is insufficient evidence for a realistic prospect of conviction for any offences against any of the officers."

Scotland Yard said it will now consider if misconduct proceedings are appropriate.

Five officers who allegedly had relationships with women activists, which lasted from seven months to nine years, have now been publicly named.

They are Jim Boyling, Bob Lambert, John Dines, Mark Cassidy and Mark Kennedy, who posed as long-haired drop out Mark "Flash" Stone.

The Metropolitan Police has been forced by a judicial ruling to disclose the identities of two undercover police officers who allegedly had relationships with women activists in groups they infiltrated.

A spokesman for the Met said: "In compliance with the order of Mr Justice Bean the MPS has confirmed in its defence that Jim Boyling and Bob Lambert were undercover police officers."

The women are among a number of people who want compensation for emotional trauma allegedly caused by officers infiltrating environmental activist groups.

Their claims for deceit, assault, negligence and misfeasance in public office arise out of long-term and intimate sexual relationships they had with four men who - unknown to them - were members of the Special Demonstration Squad (SDS), between 1987 and 2007.

Mr Justice Bean issued an ultimatum which forced the Met to disclose the names in its defence in order to be able to answer to the claims and had the force not done so within 28 days it would have been taken to admit them.

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Undercover police officers who allegedly had relationships with women activists in groups they infiltrated have for the first time been named by the Metropolitan Police.

Last month High Court judge Mr Justice Bean ruled the Met could not use its policy of ''neither confirm nor deny'' (NCND) in response to damages claims brought by women who said they were tricked into forming relationships with undercover officers.

But after the judge issued the force an ultimatum, the identities of the officers have been disclosed in court papers filed as part of the force's defence to the civil claims, the Met confirmed today.

A spokesman for the Met said: "In compliance with the order of Mr Justice Bean the MPS has confirmed in its defence that Jim Boyling and Bob Lambert were undercover police officers."

The women are among a number of people who want compensation for emotional trauma allegedly caused by officers infiltrating environmental activist groups.